PM4C-06A SERIES
User's Manual3957~3960 (rev.1)

APPLICATION OF

ELECTRONIC DEVICESTSUJI ELECTRONICS CO.,LTD3739 Kandatsu-machi Tsuchiura-city
Ibaraki-Pre 300-0013 Japan
Phone +81-(0)29-832-3031
Fax +81-(0)29-832-2662
URL http://www.tsujicon.jp
E-mail info2@tsuji-denshi.co.jp

Contents

Contents
1.

Abstract................................................................................................................................... 2
1-1 Characteristics ........................................................................................................................ 2
1-2 Concept of PM4C-06A control .............................................................................................. 3
2.
Panel layout ............................................................................................................................ 4
2-1 Front panel ............................................................................................................................. 4
2-2 Rear panel............................................................................................................................... 7
3.
Setting the motor characteristics............................................................................................. 8
3-1 Setting Preparation and Completion ...................................................................................... 8
3-2 Setting items ........................................................................................................................... 9
4.
LOCAL mode driving........................................................................................................... 14
4-1 Select motor speed ............................................................................................................... 14
4-2 Motor driving mode selection .............................................................................................. 14
4-3 Channel selection ................................................................................................................. 14
4-4 Relative Index mode (REL) ................................................................................................. 15
4-5 Absolute index mode (ABS) ................................................................................................ 15
4-6 Home position stop mode (HP) ............................................................................................ 15
4-7 Continuous Stepping mode (SCAN) .................................................................................... 15
4-8 JOG step movement ............................................................................................................. 15
4-9 Preset position data .............................................................................................................. 15
4-10 Start driving motors at the same time................................................................................... 15
4-11 Automatic hold-off ............................................................................................................... 15
4-12 Home position Set and search drive ..................................................................................... 16
5.
REMOTE mode driving ....................................................................................................... 19
5-1 Signals and Commands ........................................................................................................ 19
5-2 Communication standard...................................................................................................... 19
6.
Command in detail (LAN, RS232C, GP-IB) ........................................................................ 21
6-1 REMOTE/LOCAL command .............................................................................................. 21
6-2 SRQ command (SRQ signal is one of GP-IB signal lines.) ................................................. 21
6-3 Status read out command ..................................................................................................... 22
6-4 Motor control command ....................................................................................................... 23
6-5 Command for set and read out parameters ........................................................................... 26
6-6 Command for set and read out limit switch data parameters ............................................... 30
6-7 Others ................................................................................................................................... 31
7.
Firmware version up ............................................................................................................. 32
8.
Old command in detail (for LAN, RS232C, GP-IB) ............................................................ 34
8-1 "S1" command...................................................................................................................... 34
8-2 "S2" command...................................................................................................................... 35
8-3 "S3" command...................................................................................................................... 37
8-4 "S4" command...................................................................................................................... 39
8-5 "S7" command...................................................................................................................... 40
9.
Hand Box control (Optional) ................................................................................................ 41
10.
Data initialization ................................................................................................................. 42
11.
Additional function ............................................................................................................... 42
12.
Connection with outer equipment......................................................................................... 43
13.
Performance and specifications ............................................................................................ 45
PM4C-06A series command list ........................................................................................................ 46

1

1.Abstract

1. Abstract
1-1 Characteristics
・ Can control 4 stepping motors at a time.
・ Can set individual characteristics.
・ Scan to set position by trapezoidal driving.
・ Absolute/Relative movement is available.
・ Can stop when limit switch is detected.
・ Limit switch status can be set individually. (status: N.O/N.C, Enable/Disable)
・ Can stop by STOP button when scanning.
・ Step driving. (1 step: 1~9999 pulse)
・ Inching driving.
・ Continuous driving.
・ Enabled channels and their driving mode are shown in front panel LED lamp.
・ Detecting home position.
・ Can change driving mode. (mode: HP, REL, ABS, SCAN)
・ Stop mode when limit switch is on or STOP button is pressed is selectable. (mode: SLOW, EM)・ Backup data over five years.
・ Can start driving motors synchronously.
・ Hand Box is useful for checking mechanical position.
・ Can choose one of the motors and drive it by JOG lever in Hand Box.
・ Can choose driving speed in Hand Box.
・ Each channel has LED lamps that indicate the status of limit switch and pulse-out.
・ Motor hold-off function for each channel.
・ If you start driving hold-off motors, automatically the hold-off mode is disabled and returns to
be enabled after motor stopping.
・ Motor hold-off can be set by remote command.
・ LAN, GP-IB (IEEE-488) and RS-232C communication port.

2

1.Abstract

1-2 Concept of PM4C-06A control
PM4C-06A has three CPUs. One CPU is for controlling the whole system. The others are forcontrolling the stepping motor and control each channel individually. Current positions, speed data,
acceleration rate in starting and stopping phase, etc. are stored in the memories. Those data can beread and renewed at any time.
The difference point from PM4C-06 are these.
Home position search drive compatible with PM16C-04XDL series is available.
Pulse - Direction Reverse pulse output mode is available.

Hardware schematic figure of PM4C-06A
Push Button SW
LED LAMP
Data Memory

8x2 line
LCD
indicator

Pulse out

L.S input
A/B POSITION
pulse control
cpu

Main CPU
Main CPU bus

Pulse out
8x2 line
LCD
indicator

LANcom.port

RS232C
com.port

L.S input

GP-IB
com.port
8x2 line
LCD
indicator

Pulse out

L.S input
C/D POSITION
pulse control
cpu

Pulse out
8x2 line
LCD
indicator

L.S input

32.Panel layout

2. Panel layout
2-1

Front panel① POWER button
Power supply switch② Connector for Hand Box
When using PM16C-HDX or PM16C-HDX2, connect the Hand Box cable.
③ Status LED and LCD indicator➢

Status LED
CWLS
CW
CCW
CCWLS
MF
HP

➢

Clockwise Limit Switch. It turns on when limit switch (LS) is on.
Clockwise pulse output
Counter Clockwise pulse output
Counter Clockwise Limit Switch. It turns on when limit switch (LS) is on.
Motor Free signal. (= HOLD OFF) It turns on when the motor is hold-off.
If HOFF_POL on SETUP mode is ENABLE, turns on when motor is held.
Home Position switch. It turns on when the switch is on.

LCD indicator
Upper :
Lower :

current position
pulse output count (REL mode)
absolute position (ABS mode)
preset position (SCAN mode)
Those values can be changed by ④, ⑤.
In SETUP mode, it displays items for system control.
④ (←), (→) button
It changes digit when setting data.
⑤ (+), (-) button
It increases or decreases value.
⑥ REMOTE button
It changes pulse control mode.
Light ON : REMOTE (control by command in LAN, RS232C, GP-IB)
Light OFF : LOCAL (control by button in Front panel)
42.Panel layout⑦ SETUP button
It is for SETUP mode. Items for control can be changed or checked in SETUP mode. Thisbutton can be used in LOCAL mode only. In SETUP mode, LOCAL mode cannot be changed to
REMOTE mode.
⑧ ENABLE button
It enables or disables each channel control. It can be used at LOCAL mode only.
Light ON :Light OFF :enable (JOG , SCAN , etc.)
disableScanning channel cannot be disabled. Please stop scanning when you want to disable thechannel. In REMOTE mode, channels whose ENABLE LED lamp does not light can becontrolled.
⑨ PRESET button
In LOCAL mode, current position in enabled channel can be set. Preset data is displayed atlower part in LCD indicator.
Note)
If PRESET button and STOP button are being pushed when power on, all items for control are
initialized.
⑩ START button
14 . InIn LOCAL mode, it starts pulse-out of enabled channel in mode of ⑫ with speed ○SCAN mode, it doesn’t start pulse-out but the button LED lights. When it lights, JOG switch
can starts pulse-out to its direction. When the START button is pressed during outputting pulses,
the start operation for the pulse-outputting channel is ignored.
⑪ STOP button
In LOCAL and REMOTE mode, it stops pulse-out.
Note)
If both STOP and PRESET button are being pushed when power on, items for control are
initialized.
⑫ RUN mode LED indicator
It indicates RUN mode. There are 4 modes.
1) H.P: move to home position with home position sensor.
The direction (CW/CCW) of pulse-out in start should be set in SETUP modein advance.

2) REL: move to the relative position that is shown at lower part in LCD indicator.

3) ABS: move to the absolute position that is shown at lower part in LCD indicator.

4) SCAN: Continuous pulse-out to CW/CCW direction.
After preparation for scanning (START lamp on) by START button, thenpulse-out direction is decided by JOG lever.
Pulse-out can be stopped by STOP button or LS (Limit Switch).

5

2.Panel layout⑬ MODE button
In LOCAL mode, it changes RUN mode. Pressing it changes mode in order.
SCAN → ABS → REL → HP → SCAN
⑭ Speed select LED indicator
It indicates pulse-out speed. These are 3 modes.
1) H : Pulse-out in HSPD (Hi Speed) *1)
2) M : Pulse-out in MSPD (Mid Speed) *1)
3) L : Pulse-out in LSPD (Low Speed) *1)*1)

HSPD, MSPD, LSPD are set in SETUP mode

⑮ SPEED button
It changes pulse-out speed.
⑯ JOG lever
It is for inching drive of enabled channel. Throwing on it starts pulse-out to the CW/CCW
direction. If throwing on it more than 0.5 seconds or after reaching pulse-out count of a JOG
step, pulse-out continues. Throwing off stops pulse out. The lever is not available in REMOTE
mode.

6

2.Panel layout

2-2

Rear panel
1

2

3

4

5

6

7

① Pulse output connector
Three signals are out from this connector, CW, CCW pulse and hold-off signal.
DSub 9P (socket type)
Details are section 11.
② External switch input connector
External switches (CW, CCW, Home position limit switch) are connected.
D-Sub 9P (pin type)
Details are section 11.
③ GP-IB
24P connector for GP-IB④ RS232C
Connector for RS232C
DSub 9pin (pin type)⑤ LAN
Connector for LAN (RJ-45)⑥ Fuse Holder
For safety of AC power line.
If necessary, use 3A midget fuse.
⑦ AC100V/200V power supply connector
Inlet type AC connector for AC100V~220V power supply.
Use attached AC cable.

WARNING!
While models PM2C, PM3C and PM4C-06A are compatible with AC220V mains power,model PMCD-06A is NOT. Be careful NOT to connect PMCD-06A to AC220V supply.

7

3.Setting the motor characteristicｓ

3. Setting the motor characteristics
The data of four stepping motors can be set and stored, which is kept by battery back up. The data
are kept until data-reset. The data realize accurate control for any system. In SETUP mode,
pulse-out is forbidden. The data cannot be set during motor moving.

3-1

Setting Preparation and Completion

When PM4C-06A is powered on, Firmware version is displayed in LCD indicator for a few seconds,
for example “PM4C-06A VER 2.00”.
After that, display changes to normal mode and you can use PM4C-06A.
Setting values (REM/LOC, MODE, SPEED, etc.) are kept by battery backup.
a)

Go to LOCAL mode by REMOTE button. (REMOTE button LED turns off.)b)

Push SETUP button. (SETUP button LED turns on.)
LCD indicators display Setting Item.
digit →

1

2

3

4

5

6

7

8

+

0

1

2

3

4

5

6

+

0

0

1 2 3
NORMAL

4

5

→

1

2

H

I

3

N

4

5

6

7

8

0

0

9

0

0

o
.
SETUP

0

2

0

You can change data by (+)/(-) button. Appearance of Cursor depends on setting item. When
the Cursor appears, you can change the position by (←)/(→) button. The item can be changedby JOG. Lever.
232C BAUD ~ MAC ADD are common for each channel. So they are displayed only in “A”
channel LCD indicator. (MAC ADD is read-only.)c)

8

Press SETUP button again, then LCD return to NORMAL mode. PM4C-06A starts running in
a new setting, except for "LAN IP:1", "LAN IP:2" and "Port no". If you change those setting,power off PM4C-06A after returning to NORMAL mode, and power on again.

3.Setting the motor characteristicｓ

3-2

Setting items◆ HI
Can set HSPD (hi speed) by (+)/(-) button.
< LCD >
Upper : velocity (5PPS~100,000PPS)
Lower : code (0~254)
Refer TABLE1.
The meaning of the code is same as PM4C-05(A).
When PPS is set by remote command, the value is displayed at Upper part in LCD indicator.
If you change code in Lower part by (+)/(-) button, PPS data is changed according to the code
data. Remote command only can set velocity from 1PPS to 100000PPS.

◆ MI
Can set MSPD (mid speed) by (+)/(-) button.
< LCD >
Upper : velocity (5PPS~100,000PPS)
Lower : code (0~254)
The other setting is same as HSPD.

◆ LO
Can set LSPD (low speed) by (+)/(-) button.
< LCD >
Upper : velocity (5PPS~100,000PPS)
Lower : code (0~254)
The other setting is same as HSPD.

◆ RT
Can set acceleration and deceleration rate by (+)/(-) button.
< LCD >
Upper : acceleration and deceleration rate. (1000ms/kHz~0.1ms/kHz)
Lower : code (0~25)
Refer TABLE2.
The meaning of the code is same as PM4C-05(A).
d◆ JOG
Can set minimum pulse output number of JOG lever by (+)/(-) button.
Setting value is decimal number. (0~9999)◆ LS.
Can select ENABLE or DISABLE of limit switch by (+)/(-) button.

◆ LS.CNTCTCan select contact type (N.C/N.O) of limit switch by (+)/(-) button.

◆ LS.Stop
Can select stop mode (FAST/SLOW) of limit switch detection by (+)/(-) button.

◆ PB.Stop
Can select stop mode (FAST/SLOW) of STOP button by (+)/(-) button.

93.Setting the motor characteristicｓ◆ HOLD OFF
Can select ENABLE or DISABLE of hold-off signal output by (+)/(-) button.

◆ HOFF_POL
Can select hold-off signal polarity by (+)/(-) button.

◆ H_ONtime
Can set interval between hold-off signal release and start of motor driving.
Set with (+)/(-) button and (←)/(→) button.
Minimum value is 50(msec.), and maximum value is 3000(msec.).

◆ HOFFtime
Can set interval between stop of motor driving and hold-off signal set.

◆ HP CNTCTCan select contact type (N.C/N.O) of home position limit switch by (+)/(-) button.

◆ HP POS.
Display home position data if found. If not, display “NO H.P.”.
Pushing ENABLE button toggles HP found and not found.
Home position data can be changed by (+)/(-) button and (←)/(→) button.

◆ HP OFFST
Can set position offset for home position search drive.
The data can be changed by (+)/(-) button and (←)/(→) button.

◆ HP FNDDR
Can change direction where home position was found during home position search.
The direction can be changed (CW/CCW) by (+)/(-) button.

◆ HP.START
Can set starting direction for home position search.
The direction can be changed (CW/CCW) by (+)/(-) button.

◆ PLS MODE
Can select pulse output mode (P-P 2PLS/P-D 1PLS/PDR) by (+)/(-) button.
Here PDR mode is the same as P-D, but with reversed D (direction) signal polarity.
Direction signal is high level during CW drive in P-D mode. It is high level
during CCW drive in PDR mode.

◆ DIGTL LS
Can select ENABLE or DISABLE of digital limit switch by (+)/(-) button.

◆ CW DGLS
Can set digital limit value in CW by (+)/(-) button and (←)/(→) button.
Setting value is decimal number only.

◆ CCW DGLS
Can set digital limit value in CCW by (+)/(-) button and (←)/(→) button.
Setting value is decimal number only.

10

3.Setting the motor characteristicｓ◆ 232C BRT
Can select RS232C baud rate by (+)/(-) button.

◆ GPIB ADD
Can change GP-IB address by (+)/(-) button.
Setting value is decimal number only.

◆ LAN IP:1 (upper 2byte of IP address)
Can change IP address by (+)/(-) button and (←)/(→) button.
Setting value is decimal number only. Default value is "192.168."◆ LAN IP:2 (lower 2byte of IP address)
Can change IP address by (+)/(-) button and (←)/(→) button.
Setting value is decimal number only. Default value is ".1.55"◆ Port no
Can set Port Number by (+)/(-) button and (←)/(→) button.
Setting value is decimal number only. Default value is "07777".

◆ MAC
Can see MAC address, but cannot change the address.

◆ HDX TYPE
Select connected hand-box type and controlled channel by (+)/(-) button.
HDX4: PM16C-HDX is connected.
HDX2 CHA/CHB: PM16C-HDX2 is connected and CHA/CHB are assigned to it.

◆ HAND BOX
Can set hand-box control mode (WHEN ENB/ALWAYS) by (+)/(-) button.
WHEN ENB : controlling enabled channel only by hand-box.
ALWAYS: controlling all channel by hand-box.

11

3.Setting the motor characteristicｓ

TABLE 1 SPEED DATA
No.
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
016
017
018
019
020
021
022
023
024
025
026
027
028
029
030
031
032
033
034
035
036
037
038
039
040
041
042
043

12

PPS
5
10
25
50
75
100
150
200
250
300
350
400
450
500
550
600
650
700
750
800
900
1000
1100
1200
1300
1400
1500
1600
1700
1800
1900
2000
2100
2200
2300
2400
2500
2600
2700
2800
2900
3000
3100
3200

No.
044
045
046
047
048
049
050
051
052
053
054
055
056
057
058
059
060
061
062
063
064
065
066
067
068
069
070
071
072
073
074
075
076
077
078
079
080
081
082
083
084
085
086
087

PPS
3300
3400
3500
3600
3700
3800
3900
4000
4100
4200
4300
4400
4500
4600
4700
4800
4900
5000
5100
5200
5300
5400
5500
5600
5700
5800
5900
6000
6100
6200
6300
6400
6500
6600
6700
6800
6900
7000
7100
7200
7300
7400
7500
7600

No.
088
089
090
091
092
093
094
095
096
097
098
099
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131

PPS
7700
7800
7900
8000
8200
8400
8600
8800
9000
9200
9400
9600
9800
10000
10200
10400
10600
10800
11010
11210
11410
11600
11800
11990
12200
12400
12600
12790
12990
13200
13400
13620
13810
14000
14200
14400
14620
14830
15010
15200
15390
15580
15770
15970

No.
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175

PPS
16180
16400
16610
16830
17060
17240
17420
17600
17800
17990
18180
18380
18660
18940
19230
19530
19840
20160
20500
20830
21190
21550
21930
22320
22730
23150
23590
24040
24510
25000
25510
26040
26600
27170
27620
28090
28570
29070
29590
30120
30680
31250
31850
32470

No.
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219

PPS
33110
33780
34480
35210
35970
36500
37040
37600
38170
38760
39370
40000
40500
41100
41600
42200
42800
43400
44000
44600
45200
45800
46400
47100
47700
48400
49100
49700
50400
51100
51800
52500
53300
54000
54700
55500
56300
57000
57800
58600
59400
60200
61100
61900

No.
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254

PPS
62800
63600
64500
65400
66300
67200
68100
69100
70000
71000
72000
73000
74000
75000
76000
77100
78100
79200
80300
81400
82500
83700
84800
86000
87200
88400
89600
90800
92100
93300
94600
95900
97300
98600
1000003.Setting the motor characteristicｓ

TABLE 2 RATE DATA
No.

ms/1000PPS

000

1000

001

800

002

600

003

500

004

400

005

300

006

200

007

150

008

125

009

100

010

75

011

50

012

30

013

20

014

15

015

10

016

7.5

017

5.0

018

4.0

019

2.0

020

1.5

021

1.0

022

0.5

023

0.3

024

0.2

025

0.1

13

4.Local mode driving

4. LOCAL mode driving
LOCAL mode driving is enabled when REMOTE button LED turn off. If its LED turns on, push the
button and turn it off.

4-1

Select motor speed

The motor speed can be selected from HSPD, MSPD, and LSPD by SPEED button.
Detail of each speed is set in SETUP mode.

◆ HSPD or MSPD drive (trapezoidal form acceleration drive)
Speed
HSPD or MSPD

Start Speed

Deceleration curve

End Speed

Acceleration curve (Rate)

LSPD

LSPD

Start

Time

Stop

※ If motor is driven by remote command that doesn’t include acceleration or deceleration, themotor don’t accelerate or decelerate.
※ If the stop mode of STOP button and limit switch is EM (emergency stop), motor doesn’t
decelerate.
Caution) If the speed in start (LSPD) is too fast, motors may not drive because of step out.

◆ LSPD drive
Speed

LSPD
Time
Start

4-2

Stop

Motor driving mode selection

Motor driving mode can be selected by MODE button.

4-3

Channel selection

Each channel is enabled by ENABLE button. Enabled channels only can be controlled by front
panel switch in LOCAL mode.
14

4.Local mode driving

4-4

Relative Index mode (REL)

RUN mode LED indicator shows “REL”. Pulse-out timing is controlled by START button. If somechannels are enabled, these motors starts driving at the same time automatically by START button.
Each channel’s pulse-out count is set at lower part in LCD indicator. Pulse-out is stopped by limit
switch or STOP button. The data at lower part in LCD indicator can be set by (+), (-), (←), (→)
button.

4-5Absolute index mode (ABS)

RUN mode LED indicator shows “ABS”. Pulse-out timing is controlled by START button. If somechannels are enabled, these motors starts driving at the same time automatically by START button.
Each channel outputs pulse by the position at lower part in LCD indicator. Pulse-out direction isdecided automatically. Pulse-out is stopped by limit switch or STOP button. The data at lower partin LCD indicator can be set by (+), (-), (←), (→) button.

4-6

Home position stop mode (HP)

RUN mode LED indicator shows “HP”. When home position is not found, push START button andpush jog lever to pulse out direction. Pulse is stopped immediately when found home position.
Or hold START button more than 1 sec, start home position search driving.
If push start button when already found, drive for home position direction. In detail, check“4-12 Home position Set and search drive”.

4-7

Continuous Stepping mode (SCAN)

RUN mode LED indicator shows “SCAN”. First, push START button. Next, push JOG lever to thepulse-out direction, then pulse-out starts. Pulse-out is stopped by limit switch or STOP button.

4-8

JOG step movement

Pushing JOG lever is for inching of enabled channel. Throwing on this switch cause pulse-out to the
CW/CCW direction. Pulse-out count of a JOG step is set in SETUP mode. If throwing on it morethan 0.5 seconds or after reaching pulse-out count of a JOG step, pulse-out continues. Throwing off
stops pulse-out. JOG lever is available in HP, REL, ABS, and SCAN mode.

4-9

Preset position data

Can set current position data. Preset data is displayed at Lower part in the LCD indicator.

4-10 Start driving motors at the same time
Channels selected by ENABLE button can be started driving at the same time.

4-11 Automatic hold-off
In LOCAL and REMOTE mode, if you start driving hold-off motors, automatically the hold-off
mode is disabled and returns to be enabled after motor stopping.

15

4.Local mode driving

4-12 Home position Set and search drive
Home position of the unit is set by home position search drive. If the sensor of the origin point(H.P switch) is detected, motor will stop automatically and the moving direction and the origin
point at the time of detection are memorized on a main unit.

◆ At the beginning
A setup of H.P can be set up by connecting with H.P LS switch of LS connector and detecting
the origin point sensor arranged at the mechanical origin point.
To set H.P, you need to decide the direction of detecting origin point.
In the case of the following figure, detect way is CW.
mechanical cam for detect origin point

CCW

CW

origin sensor (H.P LS)

Once detect the origin point, motor stopped automatically and memorize the direction and H.P
pulse data. In this case, motor speed must be low within response time of sensor.
You need to check the set speed.

◆ Selection of detecting ways
There are three ways of detecting origin point.
Some are in case of memorized data had existed and another is in case of no memorized data.

METHODA

B

C

16

ORIGINAL
DETECT WAY
PROCEDURES
ACCURACYSTATENOManual operation
MEMORIZEDMANUALJOG CW, CCW or
AVERAGEDATASTART + JOG CW,CCW
NO
SEMI
Hold “START” switch
MEMORIZEDGREATAUTOMATICAL more than 1 sec.
DATA
EXISTED
Push “START” switch
SEMI
MEMORIZED
when home position is
GREAT
AUTOMATICAL
DATA
already found.

TIME
SHORT

LONG

SHORT

4.Local mode driving[METHOD A]
mechanical cam for detect origin point

CCW

CW

origin sensor (H.P LS)

When you set H.P to direction CW, you have to set motor position to CCW side against
origin sensor, then move motor from CCW to CW side by operation switch
JOG CW or START + JOG CW.
Once detect the origin point, motor stopped suddenly, origin point procedures finished.
Then the position of pulse data is memorized and the direction approaching a sensor isalso memorized. (In the case of the above figure the CW direction)
This way is applicable also to the detection in the case of using HP sensor as CWLS or
CCWLS. (In that case, input CWLS or CCWLS also into HPLS)[METHOD B]
The following example is the case that the direction of the origin point detection is CW.
The start direction of the origin point detection set in the opposite direction of thedirection of the origin point detection.
(You can set at “HP.START” on SETUP mode)(a). In case of start position is in CW side against origin point

2. Detect the origin point then back
to CW side at low speed.

CCW

1. It starts present speed H, M,
L.
Cam
3. Again detect the origin point at low speed.

CW

origin sensor (H.P LS)(b). In case of start position is in CCW side against origin point

1. It starts present speed H, M,
L.
2. Detect the CCW limit switch then back to CW side.
3. Detect the origin point then goes to
CCW side at low speed.
Cam

4. Again move to CW side anddetectthe origin point and stop.
CW

CCW

CCW
switchlimit

origin sensor (H.P LS)
17

4.Local mode driving

If a starting point sensor is detected, it will pass at first. And it will stop, if it passes
completely, and it goes to the origin point by LSPD. Motor stopped suddenly, if the origin
point sensor is detected from a direction opposite to the direction which started detection of
the origin point. Then the position of pulse data is memorized and the direction approaching asensor is also memorized.
While in this procedures, if you stop this operation by “STOP” switch or command, H.P
hadn't been finished.
If in this procedures, CW or CCW limit switch or digital limit switch is activate, detecting
procedures continue until “STOP” switch on.

[METHOD C]
Offset pulse(An initial value is 100. It can change
for every channel.)
1. It starts to the offset pulse range
at present speed H, M, L.

CCW

Cam

2. When entering in an offset pulse,
the origin point will be detected CW
at LSPD.

origin sensor (H.P LS)

This way is used when the origin point information is memorized by the way previously
described. The origin point is detected automatically based on the information memorized.
If you push START button, motor goes to origin point ± offset pulse area by preset speed.
When motor enter the offset area, then goes to origin point at low speed. Motor stopped
suddenly, if the origin point sensor is detected, and H.P procedures finished.
While in this procedures, CW, CCW limit switch activate or push STOP button, thisprocedure stopped. In this case the origin point position information is cleared.
When you want to set up the origin point using old origin point detection data, setting data
can be returned by “HP POS” at SETUP mode and push ENABLE button.

18

5.Remote mode driving

5. REMOTE mode driving
REMOTE mode is enabled when REMOTE button LED turns on. If its LED turns off, push the
button and turn the LED on. REMOTE/LOCAL mode can be selected by remote command too.

5-1

Signals and Commands◆ data for read
CHANNEL POSITION DATA, HSPD, MSPD, LSPD, RATE, STOP MODE & LS,
REM/LOC etc.

◆ data for write
HSPD, MSPD, LSPD, RATE, LMSW

◆ Command+JOG, -JOG, SCAN, CONSTANT SPEED RELATIVE SCAN,
CONSTANT SPEED ABSOLUTE SCAN, RELATIVE SCAN, ABSOLUTE SCAN
SPEED SELECT, PAUSE ON/OFF, HOLD OFF SET/RESET, SLOW STOP, EM STOP
Commands for data read are enable any time.

5-2

Communication standard◆ Abstract
PM4C-06A series support three communication types, LAN, RS232C, GP-IB (IEEE-488).
Error command and un-executable command are ignored.
Receive data format is “x・・・・・・xCR+LF”.
PM4C-06A counts received command when it gets “CR+LF”. PM4C-06A executes thecommands in order.
In GP-IB, PM4C-06A stops handshaking until the correct reply for pre-received command isprepared even if it is set as a TALKER. The wait is within 1ms. You can use SRQ function toeach channel independently when you use GP-IB. There is no need to check whether the motor
stops or not. PM4C-06A reply format is “x・・・・・・xCR+LF”◆ Setting for LAN (Ethernet TCP/IP) communication
➢
➢
➢
➢
➢
➢
➢
➢
➢
➢
➢

Go to LOCAL mode by REMOTE button.
Go to SETUP mode by SETUP button.
Go to “LAN IP:1” page by JOG lever.
Move cursor to the data that is to be changed.
Upper IP address can be changed by (←), (→), (－), (＋) button.
Go to “LAN IP:2” page by JOG lever.
Move cursor to the data that is to be changed.
Lower IP address can be changed by (←), (→), (－), (＋) button.
Go to “Port no” page by JOG lever.
Move cursor to the data that is to be changed.
Port No. can be changed by (←), (→), (－), (＋) button.

19

5.Remote mode driving

Default IP address is [192.168.1.55], and port number is [7777].
These data can be changed according to your network.
If you need to change port number, 10001 to 10999 are recommended.
You must power off and power on the unit to enable the new setting.
To confirm the new setting, you should try whether a command ("VER?" for example) is
received and the reply is sent out by the unit or not, by using client PC connected to
PM4C-06A by telnet.

◆ Setting for GP-IB communication➢➢➢➢

Go to LOCAL mode by REMOTE button.
Go to SETUP mode by SETUP switch.
Go to “GPIB ADD” page by JOG lever.
GP-IB address can be changed by using (－), (＋) button.

After changing the address, push the "SETUP" button, then it has changed and the setting will
be finished. There is no need to power on again. You can check whether the communication is
OK or NOT by the command "VER?" for example.

◆ Setting for RS232C communication➢➢➢➢

Go to LOCAL mode by REMOTE button.
Go to SETUP mode by SETUP switch.
Go to “232C BRT” page by JOG lever.
BAUD RATE can be changed by (－), (＋) button.

After changing BAUD RATE, push the "SETUP" button, then the mode will be changed andsetting will be finished. There is no need to power on again. You can check whether thecommunication is OK or NOT by the command "VER?" for example.
Pin assignment of the connector is as follows.
PM4C-06 side
Pin No.
RXD
TXD
GND

PC sideConnector of panel side : DE9P
Connector of cable side : DE9S

1
2
3
4
5
6
7
8
9

The setting data for RS232C is only BAUD RATE data.
Another parameters of RS232C communication are fixed as follows.
DATA BIT : 8
STOP BIT : 1
NO FLOW CONTROLNO PARITY
The delimiter for the data is “CR+LF”.
20

1
2
3
4
5
6
7
8
9

RXD
TXD
GND

6.Command in detail (LAN, RS232C, GP-IB)

6. Command in detail (LAN, RS232C,
GP-IB)
The format of command is ASCII data, and the delimiter is “CR+LF” (0Dh + 0Ah). After receiving“CR+LF”, command interpretation begins. When the unit receives the command without delimiter,
the receiving data will be considered to be front part characters of the command. If followedcommands are lost, command interpretation will be impossible. When sending commands,"CR+LF" must be added at the end of the command. ("CR+LF" are omitted in the command
explained below.)

6-1

REMOTE/LOCAL command

These commands are acceptable in REMOTE and LOCAL mode.
These commands are acceptable when all channel motors are stopped.
LOC

Set into the LOCAL mode

REM

Set into the REMOTE mode

6-2

SRQ command (SRQ signal is one of GP-IB signal lines.)

These commands are acceptable in REMOTE and LOCAL mode
SRQx1

Set SRQ flag to channel x : x means motor channel 0~3.
When channel x motor stopped at this state, SRQ line of this unit goes "H" toinform PC of the state and the SRQ status flag of this unit is set to "1".
Once SRQ status flag read out from PC, SRQ status flag is cleared
automatically and the SRQ line goes "L".
SRQ flag is cleared automatically just after SRQ line of this unit goes "H".
If you use SRQ signal when motor stopped, you have to set the flag every time
before start.

SRQx0

Clear the SRQ flag of channel x.

SRQ?x

Read out the status of SRQ flag of channel x.
The reply is "1" or "0".

21

6.Command in detail (LAN, RS232C, GP-IB)

6-3

Status read out command

These commands are acceptable in REMOTE and LOCAL mode.
STQ?

Read out the LOCAL/REMOTE mode and the number of stopped motors.
The reply is when REMOTE MODE : Rn (n:0~4)
when LOCAL MODE : Ln (n:0~4)
The maximum number of motors driving simultaneously is 4.
When the numbers of stopped motors is 0, there is no left motor to activate.
In this case, access command is ignored.
Before activating motors, you can check whether activated motor is left or not by
this command if you need.

STS?

Read out the LOCAL/REMOTE mode and the details of each motor state.
The format of reply data is like this.
R(L)abcd/PNNS/VVVV/HHJJKKLL/±uu･･･/±vv･･･/±ww･･･/±xx･･･
R or L

R: REMOTE mode
L: LOCAL mode

a,b,c,dThe selected motor channel number for each display channel 0~3.

PNNS

The state of motor action for each channel.
P : driving to CW direction
N : driving to CCW direction
S : stopped

VVVV

The states of limit switch and motor hold-off function for eachchannel in hexadecimal.
< data bit >b3: Motor hold off statusb2: The limit switch status of home position
b1: The limit switch status of CCW direction
b0: The limit switch status of CW direction

HHJJKKLLThis value shows the status of motor driving for each channel in
2digit hexadecimal data.
< data bit >b7: ESEND received emergency stop commandb6: SSEND received deceleration stop commandb5: LSEND stopped by limit switch
b4: COMERR occurs error
b3: ACCN deceleratingb2: ACCPD acceleratingb1: DRIVE steppingb0: BUSY data processing or stepping(= busy)

uu･･･,vv･･･,ww･･･,xx・・・
These are the latest pulse position data for each channel.

22

6.Command in detail (LAN, RS232C, GP-IB)

6-4

Motor control command① JOG Command
This command is acceptable only for REMOTE mode.
JOGPx

Moves one pulse of motor channel x(0~3) to CW direction.

JOGNxMoves one pulse of motor channel x(0~3) to CCW direction.

② Speed Select Command
These commands are acceptable only for REMOTE mode.
SPDHx

Motor speed selection of channel x(0~3) is "H"

SPDMx

Motor speed selection of channel x(0~3) is "M"

SPDLx

Motor speed selection of channel x(0~3) is "L"

Next command is acceptable for REMOTE and LOCAL mode.
SPD?x:

Read out the speed of channel x(0~3).
The replay is HSPD, MSPD or LSPD.

③ SCAN Command
These commands are acceptable only for REMOTE mode.
SCANPxContinuous movement of motor channel x(0~3) to CW direction.

SCANNxContinuous movement of motor channel x(0~3) to CCW direction.

The speed of the movement is determined by speed select command ②.
④ SCAN command set with absolute position data
This command is acceptable only for REMOTE mode.
ABSx±ddddddd

The motor of channel x(0~3) goes to the set position absolutely.
The range of ddd････ is -8,388,607 ~ +8,388,607.
(Digit number is arbitrarily specified.)⑤ SCAN command set by relative position data
This command is acceptable only for REMOTE mode.
RELx±ddddddd

The motor of channel x(0~3) moves at specified relative data.
The range of ddd････ is -8,388,607 ~ +8,388,607.
(Digit number is arbitrarily specified.)⑥ SLOW STOP, FAST STOP command
These commands are acceptable both in REMOTE and LOCAL mode.
SSTPx

Stop the driving motor channel x(0~3) with deceleration.

ESTPx

Stop the driving motor channel x(0~3) without deceleration.
23

6.Command in detail (LAN, RS232C, GP-IB)

ASSTP

Stop all the driving motors with deceleration.

AESTP

Stop all the driving motors without deceleration.

Other commands concerning motor moving⑦ PAUSE ON/OFF command
These commands are acceptable only for REMOTE mode.
PAUSE ON
(S3016)This command means the motion hold.
Once received this command, further commands are in suspended.
Those commands are in waiting state.
This suspended mode is released by the command "PASE OFF".
This command is useful when you activate some motors simultaneously.
This command doesn't affect any motor that is already moving.

PAUSE OFF(S3017)This command releases the suspended mode.
Motors that are in suspended mode by command "PASE ON" arereleased.
Those motors start simultaneously after this command.

PAUSE?

Read out pause status.
reply: ON or OFF⑧ HOLD ON/OFF command
These commands are acceptable only for REMOTE mode.

24

HOLDxON

Set Motor in channel x(0~3) hold on. Hold off signal is disable.

HOLDxOFFSet Motor in channel x(0~3) hold off. Hold off signal is enable.

HOLD?xRead out the state of hold on/off in channel x(0~3).
reply: ON or OFF

HOLDTM?x
H_ONTM?x

Read out the interval from hold off release to motor drivein channel x(0~3). Both commands are same function.
reply: dddmsec. (ex. 100msec.)

HOLDTMxdddd
H_ONTMxdddd

Set the interval from hold off release to motor drivein channel x(0~3). Both commands are same function.
Allowed input range is 50 to 3000(msec) in 10 units.

H_OFTM?x

Read out the interval of motor stop and hold off output
in channel x(0~3).
reply: dddmsec. (ex. 100msec.)

H_OFTMxdddd

Set the interval of motor stop and hold off output in channel x(0~3).
Allowed input range is 50 to 3000(msec) in 10 units.

6.Command in detail (LAN, RS232C, GP-IB)⑨ Constant speed SCAN command
These commands are acceptable only for REMOTE mode.
CSCANPx
CSCANNx

Activate the motor channel x(0~3) to CW direction at constant speed.
Activate the motor channel x(0~3) to CCW direction at constant speed.

⑩ Automatic home position searching commands.
These commands are acceptable only for REMOTE mode.
FDHPx

Start home position searching for channel x.
The searching will start along set in advance searching direction. If limit
switch was triggered during search, motor will stop and then search willcontinue to opposite direction.
If home position sensor was detected before the change of direction,
motor will decelerate, passing detected position, and then return at slow
speed until the sensor detected again, where motor will stop.
If home position sensor was found after triggering limit switch andchange of direction, motor will decelerate, passing detected position,then switch direction and move pass detected position at slow speed andstop, then switch direction again and move at slow speed until the sensor
is detected again, where motor will stop.
With above, searching direction will always be reversed if home
position sensor was found with this command.
This detected position will be remembered as home position and flag forhome position will be set. Searching direction will be saved as well.
Saved values can be read with “SHP?x” and “SETHP?x” commands.
ATTENTION:
If home position sensor was never detected during search, motor willcontinue moving between limit switches (or digital limits if set) in aconstant loop. In that case motor can be stopped with “STOP” commandor “STOP” button.
If digital limits set too close to either range bound (±2147483647), it ispossible to overflow motor position counter during deceleration which
will prevent correct operation.

GTHPx

Command for subsequent home position search for channel x
If home position has already been found, with this command motor will
move near remembered home position from where it will move at slow
speed until home position sensor is detected.
Movement direction will be the same as remembered when home
position was found.

SCANHPx

To detect the home position of motor channel x(0~3) along CW
direction.
When the home position is detected, motor stops suddenly.
So you need to move slowly to avoid step-out of motor.
When there is no home position, motor will be stopped at CW or CCW
limit switch.
If you know the home position roughly, you can check the home
position in a short time.

SCANHNx

This command is as same as "SCANHPx" without the direction CW.
The starting direction is CCW.
25

6.Command in detail (LAN, RS232C, GP-IB)

6-5

Command for set and read out parameters① Commands for set and read out motor parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
SETMTxABCD

Set the fundamental characteristics of motor channel x(0~3)
A : 1/drive enable 0/drive disable
If you set the motor disable, you can't activate it and you can
avoid unexpected moving by the operation error.
Unless you set enable, you can't move the motor.
B : 1/hold on
0/hold off
When you set the motor hold off, this unit outputs the hold off
signal to external devices.
C : 1/trapezoidal (fixed)
The acceleration and deceleration mode of moving motor is fixed
to trapezoidal form.
D : 0/Pulse-Pulse 1/Pulse-Direction 2/Pulse-Direction-Reverse
Select output pulse signal type to motor driver.

SETMT?x

This command is readout command above motor characteristics.
The reply data is in order ABCD. The default data is "1010".

STOPMDxAB

This command is set to stop motor channel x(0~3), slowly or fast.
A : 0/PB slow stop, 1/PB fast stop
It means slow stop or fast stop by STOP switch on front panel.
B : 0/LS slow stop, 1/LS fast stop
It means slow stop or fast stop by limit switch.

STOPMD?x

This command is readout command above motor stop way.
The reply data is in order AB. The default data is "00".

② Commands for set and read out speed parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
SPDHxdddd･･･

The high speed of motor channel x(0~3) is dddd･･･. Unit is PPS.

SPDH?xThis command is readout command above SPDHx.
The reply is dddd･･･. Unit is PPS.

SPDMxdddd･･･

The middle speed of motor channel x(0~3) is dddd･･･. Unit is PPS.

SPDM?xThis command is readout command above SPDMx.
The reply is dddd･･･. Unit is PPS.

SPDLxdddd･･･
26

The low speed of motor channel x(0~3) is dddd････. Unit is PPS.

6.Command in detail (LAN, RS232C, GP-IB)

SPDL?xThis command is readout command above SPDLx(0~3).
The reply is dddd･･･. Unit is PPS.

③ Commands for set and read out acceralaton and deceleration parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
RTExddd

The acceleration and deceleration of motor channel x(0~3) is set by thiscommand.
ddd: 0~021
This is a code number. See TABLE 2 RATE DATA.

RTE?xThis command is for reading the acceleration and deceleration value ofmotor channel x(0~3). The reply is ddd.

④ Commands for set and read out latest pulse position parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
PSx±dddddd

Set the current position data of motor channel x(0~3).
The range of dddd･････ is -8,388,607 ~ +8,388,607.
(The number of digit is arbitrary.)

PS?x

Read out the current data of motor channel x(0~3).
The reply is ±ddddddd (decimal number).

⑤ Commands for set and read out digital limit position parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
FLx±ddddddd

Set the digital limit data to CW side of motor channel x(0~3).
When you set the digital limit switch available, the motor doesn't moveover the preset position.
(When limit switch stop mode is deceleration stop mode, motor overrun
at some range.)
If you set digital limit switch available and present position is out ofmoving area, motor could move to the moving area direction.

FL?x

Read out the digital limit data to CW side of motor channel x(0~3).
The reply is ±ddddddd (decimal number).

BLx±ddddddd

Set the digital limit data to CCW side of motor channel x(0~3).
When you set the digital limit switch available, the motor doesn't moveover the preset position.
(When limit switch stop mode is deceleration stop mode, motor overrun
at some range.)
If you set digital limit switch available and present position is out ofmoving area, motor could move to the moving area direction.

BL?x

Read out the digital limit data to CCW side of motor channel x(0~3).
The reply is ±ddddddd (decimal number).

27

6.Command in detail (LAN, RS232C, GP-IB)⑥ Commands for set and read out home position status flag parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
SETHPx0XYZ

Set the parameters of home position setting for motor channel x(0~3).
X : 0/not found
1/HP already found
Home position data is already found or not.
Y : 0/CW direction 1/CCW direction
The direction when detecting the home position.
Z : 0/CW direction 1/CCW direction
The start moving direction of motor channel x when detecting
the home position in automatic detecting mode.

28

SETHP?x

Read out the state of home position setting for motor channel x(0~3).
The meaning of reply data is above command.
The reply data format is :0XYZ. Example is "0100".

SHPx±ddddddd

Set home position for motor channel x(0~3).
This command allows to force setting of home position, which otherwise
detected automatically.

SHP?x

Read out home position for motor channel x(0~3).
The reply is ±ddddddd (decimal number).
Number of digits in reply will be automatically increased if needed.
If home position wasn’t yet found, “NO H.P” will be replied instead.

SHPFx±ddddddd

Set home position offset for motor channel x(0~3).
Subsequent home position searching with GTHPx command will startfrom this offset. If no home position was found in twice offset range,
searching will fail and home position data will be deleted.
ddddddd: allowed input range is 0 to 9999999.
Out of range inputs will be truncated down.

SHPF?xRead out home position offset for motor channel x(0~3).
The reply is ±ddddddd (decimal number).

6.Command in detail (LAN, RS232C, GP-IB)⑦ Commands for set and read out data in LOCAL mode
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
These data are useful only for LOCAL mode.
SPRSx±ddddddd

Set the preset position of motor channel x(0~3).
If you select SCAN mode in LOCAL, sent data is displayed at lower
part in LCD indicator. Push PRESET button and current position data
turn to preset data.

SPRS?xRead out the preset position of motor channel x(0~3).
The reply is ±ddddddd (decimal number).

SETJGxdddd

Set the JOG steps of motor channel x by LOCAL mode.
When you put on JOG lever, motor moves by JOG steps at one time in
LOCAL mode.
The range of dddd is 0 ~9999.

SETJG?x

Read out the JOG steps of motor channel x(0~3) by LOCAL mode.
The reply is ±dddd (4 digits decimal number).

29

6.Command in detail (LAN, RS232C, GP-IB)

6-6

Command for set and read out limit switch data parameters

The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
SETLSxDYYY0yyy

Set the states of limit switch of motor channel x(0~3).
D: 0/Digital limit switch disable, 1/Enable

YYY : 0/Limit switch disable, 1/Enable(State of CW and CCW LS become same state of
HP LS. All LS become enabled only or disable only.)yyy: 0/Limit switch set is N.O, 1/N.C(State of CW LS becomes same state of CW LS.
Their contact has to be same type.)

YYY,yyy

The order is H.P LS, CCW LS, CW LS.

SETLS?x

Read out the states of limit switch of motor channel x(0~3).
The reply is DYYY0yyy. (Meaning is shown above.)LS?

Read out the motor channel and the states of limit switch for channels.
The reply data is abcdHJKL.
a,b,c,d: It means the motor channel for A,B,C,D channel.
It's a hexadecimal number.(One character)

H,J,K,L : It means the state of limit switch for channels.
b3 (hold off)
1:holdoff
0:hold on

HDSTLS?

b2 (HP LS)
1:LS on0: LS offb1 (CCW LS)
1:LS on0: LS offb0 (CW LS)
1:LS on0: LS off

Read out the state of hardware and software limit switch for channels.
The reply data is abcdHHHHSSSS.
a,b,c,d: It means the motor channel for A,B,C,D channel.
It's a hexadecimal number.(One character)

H,H,H,H : state of hardware limit switch for A,B,C,D channel.
S,S,S,S: state of software limit switch for A,B,C,D channel.

b3b2 (HP LS)
b1 (CCW LS)
01:LS on1:LS on00: LS off
0: LS off
※ HP LS is hardware limit switch only.

30

b0 (CW LS)
1:LS on0: LS off

6.Command in detail (LAN, RS232C, GP-IB)

6-7

OthersVER?

Read out version information of inside firmware program.
The reply will be like "1.00 10-10-01 PM4C-06A" in PM4C-06A.
The same firmware is installed to PM4C-06A series.

VERH?

For maintenance
Read out the hardware version of this unit.

FROM0,FROM1

For maintenance
You can select the active flash ROM.
NOTICE : After this command, cycle unit’s power or sendcommand "REST", and program will start again from
specified ROM and all parameters initialized.

FROM?

For maintenance
There are two flash ROM for program memory inside.
You can check which one is active for flash ROM.
The reply is FROM0/FROM1.

REST

For maintenanceCan restart the program without power switch operation

STEM?

For maintenanceCan be read out status port 1 of inner IC MCC05.
Reply is aaaa/bbbb/cccc/dddd.
The status of control IC A,B,C,D are read out in hexadecimal style.

31

7.Firmware version up

7. Firmware version up
You can perform firmware upgrade of PM4C-06A series via communication line. To keep safety
you had better cut off the connection from unit to motor driver, or put off the power line of motor
drivers. It's convenient to use RS232C or LAN connection.
We have firmware-upgrading program for Windows.
http://www.tsuji-denshi.co.jp/download_file/lan_rs_file_send.EXE
http://www.tsuji-denshi.co.jp/manual_pdf/pm16c_04xd_vup_soft.pdf
The procedures of upgrade via LAN communication using "Tera Term" free software① Download the text-file for version upgrade from TSUJI-ELECTRIC HP, and unzip it to yourPC.
② Launch the program "Tera Term".
Select TCP/IP and enter IP address and port No of PM4C-06A.
Operation is SETUP -> Terminal then setting of New-Line is to be CR+LF in Receive andTransmit set.
Mark on Local echo and "OK". Send the command VER? , and reply is like
"1.00 10-10-01 PM4C-06" then the connection will be good.
③ Set PM4C-06A to REMOTE mode by local operation or remote operation.
To change in remote operation sends the command "REM".
④ Operation is File -> Send file then click the file name.
Specify the file name and "OPEN".
It begins the download procedure.
⑤ You can see the process of transferring the file data to PM4C-06A on your PC.
The "REMOTE" lamp on the PM4C-06A is blinking on and off slowly that indicates receiving
the file by PM4C-06A.
⑥ For about 90 seconds download procedures continues, then "REMOTE" lamp turns on quick
blinking mode. Then the data write procedure begins to start for about 20 seconds.
After finishing data write procedure to flash ROM, "REMOTE" lamp turns off.
Program upgrade procedure is finished⑦ Set TCP/IP line off, and then finish the TeraTerm program.
Put off the power line of PM4C-06A, and then put on this unit again.
If you don't want to put off the unit, send command "REST".
Thus the unit runs again from new version program.
If trouble occurred in download process, when put on the unit again, sometimes program runs out ofcontrol. In this case once put off the unit and put on it again pushing STOP button and SPEEDbutton. The unit runs from previous ROM version again. And you can try again upgrading
procedure.
Even if by the above operation, program runs out of control you can start again next procedure.
There is a communication program in CPU-ROM.

32

7.Firmware version up

When you use this mode you have to pay attention to following procedures.
CAUTION: When you open the cover of this unit, be careful not to get shock.
First take out power cable of it.
If you have some troubles to do next procedure please contact us.
1. Put off the power switch of this unit and opens the top cover.
Set the DIPswitch 1 to side "ON". (DIPswitch 2 is still side "OFF".)
DIPswitch is beside connector 9 on print circuit board "TEP178"
2. Put on the power line pushing STOP and MODE button.
The "RED" led lamp that indicate "REMOTE" is flashing on and off for 15 seconds, then "RED"lamp turn on red continuously.
At this stage LCD display is not correct yet.
3. Put off the power switch of this unit again, then set the DIPswitch 1 to side "OFF".
(DIPswitch 2 is still side "OFF".)
4. Put on the power line pushing REMOTE button.
Program starts by Version 1.00 firmware.
(In this stage if LCD display may not be correct, but don't care of it. It's OK if you can change
remote-local mode by REMOTE button.)
Next procedure is above described ①~⑦.
When you change firmware program all preset data are cleared, and setting data will become default
state.

33

8.Old command in detail (for LAN, RS232C, GP-IB)

8. Old command in detail (for LAN,
RS232C, GP-IB)
Commands are available in ASCII code only.
De-limiter is fixed to be “CR+LF” both in send data and receive data.

8-1"S1" command

It can be used only GP-IB communication and is for SRQ request on GP-IB line. It can be usedduring motor stop state. If SRQ is set to one channel, SRQ signal occurs when the channel motor
stops. This command is available only in REMOTE mode.1) Send form of the commands are below.
The SRQ flags, which were set once before, are cleared at the SRQ send out timing.
< Command form >S1 ○ △CR+LF

0 : A Position
1 : B Position
2 : C Position
3 : D Position
8 : current SRQ flag
9 : SRQ reply channel read 2)

0 : SRQ clear
1 : SRQ set< Command sample >A POSITION SRQ set
B POSITION SRQ clear
Current SRQ flag read
SRQ reply channel read・・・ S101CR+LF
・・・ S110CR+LF
・・・ S18CR+LF
・・・ S19CR+LF

1) "S18" command is available both REMOTE and LOCAL mode.
2) Can get channel information that replied SRQ by "S19" command.
After reply to "S19" command, channel information is cleared in the memory.
< Reply form>
Reply to "S18", "S19" commandR0 □ CR+LF
total value of bit 1~4 in hex
7
0

0
0

0

0
A position
B positon
C position
D position

34

8.Old command in detail (for LAN, RS232C, GP-IB)

8-2"S2" command

Commands are useful in LAN, RS232C and GP-IB communication.
It is used to read position data, status, LS, HP and Hold-off status.
It can be used in all modes (REM / LOC / SETUP).
Command form and reply forms are below.
< Command form >S2 ○ △CR+LF

0 : A Position
1 : B Position
2 : C Position
3 : D Position

0 : pulse count data
1 : internal CPU status
2 : LS・ HP・ H.OFF status< Command sample >A POSITION pulse counter read
B POSITION internal CPU status readC POSITION LS･HP･H.OFF status read
D POSITION internal CPU status read・・・ S200CR+LF
・・・ S211CR+LF
・・・ S222CR+LF
・・・ S231CR+LF＜Reply form＞
a) For S2※0 command
R ○ △ (7d igit decimal data) CR+LF
polarity (+ o r -)position (A, B, C, D)b) For S2※1 command
R ○ (2d igit hex data) CR+LF
2digit hex data bit map
position (A, B, C, D)

7

0

BUSY
DRIVE
not used
not used
COM ERR
LSEND
SSEND
ESEND

35

8.Old command in detail (for LAN, RS232C, GP-IB)

bit information
BUSY
DRIVE
COMERR
LSEND
SSEND
ESEND

: internal CPU is busy. Any command are receivable when bit=0 1): internal CPU is now on pulse out status.
: command is not regal 2): PULSE was stopped by limit switch. 2,3)
: PULSE was stopped by slow stop command. 2,3)
: PULSE was stopped by EM command. 2,3)

1) Only SLOW STOP, EM STOP command are available in BUSY=1,DRIVE=1 (on driving)state.
2) COMERR, LSEND, SSEND, ESEND BIT are valid in BUSY=0 status.
These bit are cleared by next command.
3) LSEND, SSEND, ESEND BIT are valid only after end of driving.

c) For S2※2 command
R ○ (1d igit hex data) CR+LF
1digit hex data bit map
position (A, B, C, D)

30CW LS status ( 0:Non active 1:Active )CCW LS status ( 0:Non active 1:Active )HP LS status ( 0:Non active 1:Active )H.OFF status ( 0:H.ON
1:H.OFF )36

8.Old command in detail (for LAN, RS232C, GP-IB)

8-3"S3" command

Commands are useful in LAN, RS232C and GP-IB communication.
"S3" command is used to pulse out or pulse stop and set condition data.
If the channel is scanning (BUSY BIT=1) these commands are ignored except pulse stop command.
< Command form type 1 >S3 ○ (2d igit HEX data) CR+LF

0 : A Position
1 : B Position
2 : C Position
3 : D Position

08, 0A : +JOG (1pulse)
09, 0B : -JOG (1pulse)
0C: +SCAN (no acc.)
0D: -SCAN (no acc.)
0E: +SCA N (with acc.)
0F: -SCA N (with acc.)
16: PAUSE ON 1)
17: PAUSE OFF 1)
18: HOLD OFF set
19: HOLD OFF clear
1E: HP STOP +SCAN (with acc.)
1F: HP STOP +SCAN (with acc.)
40: SLOW STOP
80
: EM STOP

1) PAUSE ON/OFF command controls one circuit line on the board,any position mark (A, B, C, D) will work as the same command.
< Command Sample >A POSITION +JOG command
B POSITION HOLD OFF set
C POSITION +SCAN command
D POSITION slow stop command・・・ S3008CR+LF（or S300ACR+LF）
・・・ S3118CR+LF
・・・ S320ECR+LF
・・・ S3340CR+LF< Command form type 2 >S38 ○ (±7d igit decimal data) (2d igit HEX data) CR+LF

0 : A Position
1 : B Position
2 : C Position
3 : D Position±8388607(0 ~ FFFFFF in HEX)

10 : INDEX SCAN (no acc.)
11 : ABSOLUTE SCAN (no acc.)
12 : INDEX SCAN (with acc.)
13 : ABSOLUTE SCAN (with acc.)< Command sample >A POSITION +1234567 INDEX SCAN(no acc.)
B POSITION -0200000 ABSOLUTE SCAN(no acc.)
C POSITION +0000000 INDEX SCAN(with acc.)
D POSITION -0000100 ABSOLUTE SCAN(with acc.)

・・・S380+123456710CR+LF
・・・S381-020000011CR+LF
・・・S382+000000012CR+LF
・・・S383-000010013CR+LF
37

8.Old command in detail (for LAN, RS232C, GP-IB)< Command form type 3 >S39 ○ △ <const.1> CR+LF

0 : A Position
1 : B Position
2 : C Position
3 : D Position

0 : HSPD change

3digit (000 ~ 187) 2)

1 : MSPD change

3digit (000 ~ 187) 2)

2 : LSPD change

3digit (000 ~ 161) 2)

3 : RATE change

2digit (00 ~ 18) 3)

4 : JOG pulse set

4digit (0000 ~ 9999) 4)

5 : LS STOP MODE set

1digit (0:SLOW STOP / 1:EM STOP)

6 : PB STOP M ODE set

1digit (0:EM STOP / 2:SLOW STOP)

7 : H.OFF set/clear

1digit (0:clear / 4:set)

8 : HP SCAN DIR set

1digit (0:CCW / 8:CW)

9 : couter preset±7dig it decimal (max ±8388607)

2) It must be 3 digit data3) It must be 2 digit data4) It must be 4 digit data
Caution) Speed data change by this "S39" needs "S71" command to effective new data.
"S71" command is the sign to start changing speed data.
< Command sample >A POSITIONB POSITIONC POSITION
D POSITIONA POSITIONB POSITIONC POSITION
D POSITIONA POSITIONB POSITIONC POSITION
D POSITIONA POSITION38

HSPD set to 100
・・・ S3900100CR+LF
MSPD set to 15
・・・ S3911015CR+LF
LSPD set to 5
・・・ S3922005CR+LF
RATE set to 10
・・・ S393310CR+LF
JOG pulse set to 1234
・・・ S39041234CR+LF
LS STOP set to slow stop ・・・ S39150CR+LF
LS STOP set to EM stop・・・ S39251CR+LF
PB STOP set to slow stop ・・・ S39362CR+LF
H.OFF clear
・・・ S39070CR+LF
H.OFF set・・・ S39174CR+LF
HP SCAN DIR set to CCW ・・・ S39280CR+LF
HP SCAN DIR set to CW ・・・ S39399CR+LF
counter preset +1234567
・・・ S3909+1234567CR+LF

8.Old command in detail (for LAN, RS232C, GP-IB)

8-4"S4" command

Commands are useful in LAN, RS232C and GP-IB communication.
"S4" command is mainly used to read setting data for each channel.
It can be used at any time whether pulse control CPU is busy or not, REMOTE or LOCAL mode.
< Command form >S4 ○ △ CR+LF

0 : A Position
1 : B Position
2 : C Position
3 : D Position
8 : status of panel

0 : HSPD data read
1 : MSPD data read
2 : LSPD data read3 : RATE data read4 : JOG pulse data read5 : status data read

< Receive data form >a) POSITION data readR ○ □ <const.2> CR+LF
4digit decimal data
0 : A Position
1 : B Position
2 : C Position
3 : D Position

H : HSPD data readM : MSPD data read
L : LSPD data readR : RATE data read
JP: JOG pulse data readS : status data readb) Status information for the panel
R ○ □ <const.3> <const.4> CR+LF

2digit HEX code bit map
C : SETUP mode
N : NORMAL mode

700
ABS mode
REL mode
H.P mode
SCAN mode
SPEED Low
SPEED M id
SPEED Hi

L : LOCAL mode
R : REM OTE mode

2digit decimal data bit map
7
0

0
0

0

0
A POS.
B POS.
C.POS.
D POS.

39

8.Old command in detail (for LAN, RS232C, GP-IB)< Command sample >A POSITION HSPD data read
B POSITION MSPD data readC POSITION LSPD data read
D POSITION RATE data read
A POSITION JOG pulse data read
D POSITION status data readstatus information for the panel

8-5

・・・ S400CR+LF
・・・ S411CR+LF
・・・ S422CR+LF
・・・ S433CR+LF
・・・ S404CR+LF
・・・ S435CR+LF
・・・ S48CR+LF"S7" command

Commands are useful in LAN, RS232C and GP-IB communication.
It is used to change status of the panel.
< Command form >S7 ○ △ CR+LF

R : REM OTE mode change
0 : REM/ LOC change
L : LOCAL mode change
H : Speed Hi change
1 : SPEED change

M : Speed Mid change
L : Speed Low change< Command sample >PM4C-06A
PM4C-06A
PM4C-06A
PM4C-06A
PM4C-06A

40

REMOTE mode change
LOCAL mode change
SPEED Hi change
SPEED Mid change
SPEED Low change

・・・ S70RCR+LF
・・・ S70LCR+LF
・・・ S71HCR+LF
・・・ S71MCR+LF
・・・ S71LCR+LF

9. Hand Box control (Optional)
In local mode operation, you can control a motor using the panel directly.
In addition, you can control a motor using Hand box (sold separately).
Connect the Hand box to HAND BOX connector.
Before using, go to the “HDX TYPE” page on SETUP mode and select hand box type and assign
the channel on CHA and CHB when you use PM16C-HDX2.
You can control A,B,C,D channels far from 3 meter of PM4C-06A on default.
Preset speed is indicated by LED.

②
①
③

④

①
②
③
④

Channel select switch
SPEED indicate lamp : Shows current speed setting.
SPEED select button : Changes current speed.
JOG lever switch

41

10.Data initialization
11.Additional function

10. Data initialization
If PRESET button and STOP button are being pushed when power on reset, all setting data are
initialized. In case of updating firmware, they are initialized too.
Initialized data are below.
Item
HSPD
MSPD
LSPD
RATE
Current position
Preset data
JOG PULSELS
LS CONTACTLS STOPPB STOPHOLD OFF
HOFF POL
HOLD ON time
HOLD OFF time
HP CONTACT
HP Position
HP OFFSET
HP.STARTPULES MODE
DIGITAL LS
DIGITAL CWLSDIGITAL CCWLS
RS232CGPIB ADD
IP ADD
PORT No.
HAND BOX TYPE
HAND BOX

Default
048(3700PPS)
016(650PPS)
001(10PPS)
005(300ms)
001
ENABLE
N.C
FAST
SLOW
ENABLENORMAL
100(msec.)
500(msec.)N.O
NO H.P
100
CW
P-P MODEDISABLE
1000000-1000000
38400 BAUD
07
192.168.1.55
7777
HDX4
WHEN ENB

11. Additional function
PM4C-06A is updated the hardware from PM4C-06.
Pulse Direction Reverse(PDR) is available on pulse output mode.
Home position search drive function compatible for PM16C-04XDL series is available.

42

13.Performance and specifications

12. Connection with outer equipment
Connection cables are recommended to be shielded twist pair cable. (more than 0.2mm２)

connector PIN assign
DSub9S(PULSE)

DRIVER+5V
CWP(PULSE)
CCWP(DIRECTION)
H.OFF※ +5V or +12V

1 ○
2 ○
3 ○
4 ○
5 ○
6 ○
7 ○
8 ○
9 ○

300Ω

+12V→
0V→
1KΩ
SENSOR
CW LS

DSub9P(LS IN)
1 ○
2 ○
3 ○
4 ○
5 ○
6 ○
7 ○
8 ○
9 ○

CCWLS

HP

LS type: N.O and N.C both OK
CW LS
CCWLS

ZERO(HP)
LS

1P
2P
12VTotal
Max.0.5A

12V
SIG
0V

3P
4P

12V
SIG
0V

6P
7P

12V
SIG
0V

Frame

PM4C

Caution)Connector shell size of DE9P and 9S is varied from each maker's.
Outward form <35W can be used for PM4C-06A.
DE-C1-J6(JAE), XM2S-0911(OMRON) and HDE-CTF(HIROSE) and etc.

* Pin7 on PULSE connector:
This pin set to +5V from the factory, and you can change it to +12V by jumper on board. Checkthe next page for details.

4312.Connection with outer equipment

Pin 7 on PULSE connector
From the factory HOLD OFF signal level set to +5V. If a +12V level signal is needed, it canbe made by switching over jumper setting on the circuit board. Please check your driver
documentation for signal voltage level requirements.
Jumper on LEFT side corresponds to 5V level, on RIGHT side – to 12V level.

+5V

+12V

+5V output

+5V

+12V

+12V output

Each channel’s corresponding circuit board and jumper listed in the table below.
Please make sure mains power supply is unplugged before accessing the circuit boards.
TYPE

A POS.

B POS.

PMCD-06AX

TEP636-J1

PM2C-06A

TEP453B-J1

TEP453B-J2

PM3C-06A

TEP453B-J1

TEP453B-J2

TEP636-J1

PM4C-06A

TEP453B-J1
CENTERTEP453B-J2
CENTERTEP453B-J1
RIGHT

Location of J1 and J2 on TEP453B circuit board
J1
J2

44

C POS.

D POS.

TEP453B-J2
RIGHT

13.Performance and specifications

13. Performance and specifications
Input/
OutputPRODUCT
Control motor
Capability
OutputPulse rate
Pulse control number
Acceleration and
Deceleration rate
Acceleration and
Deceleration form
Output format
Pulse out connector
Limit switch input

LCD
display

Limit switch connector
Characters and lines ofDisplay device
Display default
Display contents in
Data set mode

Panel
push
buttonandlamp
Control

Stepping
mode

RemoteCase
PowerAll channel

Each channel
PRESET
START
STOP
JOG
SCAN MODE

PMCD-06N, X
PM2C-06A
PM3C-06A
PM4C-06A
1
2
3
4
1
2
3
4
CW, CCW(5V,8mA:Open collector), HOLD OFF(5 or 12V: Open collctor)
for each motor driver
5 ～ 100,000PPS(LOC) / 5 ～ 100,000PPS(REM)
0 ～ ±8,388,607
1000ms ～ 0.1 ms/KHz
Constant speed, trapezoidal form
2pulse / 1pulse
DSub 9P (F)CW-LS, CCW-LS, HOME-LS 12V 5mA (minus common) and power supply+12v for censer for each motor (Max. 0.5A).
DSub 9P (M)8characters × 2lines(character size : 11.4H × 6.1W)
Upper line : current position
Lower line : preset value
HSPD, MSPD, LSPD, RATE, JOG PULSE, LS EN/DA, LS NO/NC
LS STOP FAST/SLOW, PB STOP FAST/SLOW, HOLD OFF
HP DIR, HP NO/NC, P-P/P-D, RS232C BAUD, GP-IB ADD, IP ADD.
MAC ADD, HDX TYPE, HAND BOX etc.
Button : REM/LOC, SETUP, PRESET, START, STOP, MODE,
SPEED, JOG CW/CCW
Lamp : REM/LOC, MODE/HP-REL-ABS-SCAN, SPEED/H-M-L
Button : UP, DOWN, INC, DEC, ENABLE
Lamp : ENABLE, CWLS, CWP, CCWP, CCWLS, MF, HP
preset specified data to the ready channel
moving start for ready channel according to the modestop moving for ready channel
jog stepping for ready channel
continuous stepping operation of ready channel.
Stepping direction is according JOG switch.
moving to specified position of ready channel
moving specified steps of ready channel
stop by Home Position Limit Switch

ABS IDX MODE
REL IDX MODE
HP STOP MODE
LAN, GP-IB, RS232C
EIA 2 UNIT rack mount type (88H×482W×325D)
AC 85V ～ 264V 47 - 440Hz 50VA

For the further information, feel free to ask us.
Tsuji-Electronics Co., Ltd
TEL: +81-(0)29-832-3031 FAX: +81-(0)29-832-2662
E-mail : info2@tsuji-denshi.co.jp
URL : http://www.tsujicon.jp
3739, Kandatsu-machi, Tsuchiura-city, Ibaraki 300-0013, Japan

45

PM4C-06A series command list

PM4C-06A series command list
Below commands are not only for 4ch controller (PM4C) but also for 1ch~3ch controller.
・for LAN，RS232C，GP-IB (delimiter:CR+LF(fixed))
・Compatible to PM16C-04XD(L)・Red colored commands are new at PM4C-06A series.
x : 0~3(channel)

dd･･･d : decimal data

MODE
R
R
R
R/L
R
R
R/L
R
R
R
R
L
R/L
R
R

COMMAND
ABSx±ddddddd
ASSTP, AESTP
BLx±ddddddd
BL?x
CSCANPx,CSCANNx
FLx±ddddddd
FL?x
FDHPx
GTHPx
JOGPx, JOGNx
LOC
REM
LS?
PAUSE ON
PAUSE OFF

R
R
R/L
R
R
R/L
R

PAUSE?
PSx±ddddddd
PS?x
RELx±ddddddd
RTExddd
RTE?x
SCANHPx,SCANHNx

RR

SCANPx,SCANNxSETHPx0XYZ

R/L
R
R/L
R
R/L
R
R/L
R

SETHP?x
SHPxddddddd
SHP?x
SHPFxddddddd
SHPF?xSETJGxdddd
SETJG?x
SETLSxDYYY0yyy

R/L

SETLS?x46

NOTE
absolute index scan
all moving motor slow stop or fast stop
set backward digital limit
read backward digital limit
reply:±ddddddd(decimal)
constant speed scan to cw or ccw direction
set forward digital limit position
read forward digital limit
reply:±ddddddd(decimal)
find home position (start auto find sequence)
go to home position if it exists
Jog command (one step to cw or ccw direction)
LOCAL mode change
REMOTE mode change
LS read
reply:abcdHJKL
set pause. send before scan start command.
clear pause. send after scan start command for synchronousscan start of multi channels
read out / reply: ON or OFF
preset position dataread position data
reply:±ddddddd(decimal)
relative index scanacc. rate set
ddd:0～025(see RATE TABLE )read acc. RATE
reply:ddd
accelerative scan to cw or ccw direction
if HP switch then stop
accelerative scan to cw or ccw direction
HP find information set
X: found/1, not found/0(reserved)
Y: found dir.
0/cw, 1/ccw(reserved)
Z: auto start dir. 0/cw, 1/ccw
read HP find information reply:0XYZ
set home position dataread home position reply:±ddddddd or NO H.P
set home position offset
read home position offset reply:dddd
set Jog pulse for manual PB
read JOG pulse for manual PB
reply:DDDD
set LS characteristics
D:digital limit enable/1, disable/0
Y:LS
enable/1, disable/0
y:LS
N.C/1,
N.O/0
read LS setting
reply:DYYY0yyy(see SETLSx)

PM4C-06A series command list

MODE
R/L
R

COMMANDSETMT?x
SETMTxABCD

R
R/L
R
R/L
R
R/L
R
R/L
R
R/L
R/L

R
R

SPDHx,SPDMx,SPDLx
SPD?x
SPDHxdddd･･･
SPDH?xSPDLxdddd･･･
SPDL?xSPDMxdddd･･･
SPDM?xSPRSx±ddddddd
SPRS?x
SRQx1(ONLY FOR GP-IB)
SRQx0(ONLY FOR GP-IB)
SRQ?x(ONLY FOR GP-IB)
SSTPx,ESTPx
STOPMDxAB

R/L
R/L

STOPMDx?
STQ?

R/L

STS?

R/L

HDSTLS?

R/L

HOLD?x

R
R
R/L

R/L

HOLDxON
HOLDxOFFHOLDTM?x
H_ONTM?x
HOLDTMxdddd
H_ONTMxdddd
H_OFTM?xR

H_OFTMxdddd

R/L
R/L

R

NOTE
reply:ABCD
A:1/drive enable 0/disable
B:1/hold on
0/hold off
C:1/trapezoidal(fixed)
D:0/Pulse-Pulse 1/Pulse-Direction 2/ Pulse-Direction-Reversechange speed(can set 0～3ch individually)
read speed
reply:HSPD or MSPD or LSPD
set HSPD to ddd･･･ in pps unit(1～100,000)
read HSPD
reply:dddddd
set LSPD to ddd･･･ in pps unit(1～100,000)
read LSPD
reply:dddddd
set MSPD to ddd･･･ in pps unit(1～100,000)
read MSPD
reply:dddddd
set preset data for LOCAL mode
read preset data for LOCAL mode
reply:±DDD･･･DD
SRQ flag set
auto reset after SRQ out
SRQ flag reset
read motor set
motor drive set

SRQ flag read

reply:1 or 0

slow stop or fast stop
set PB and LS stop mde

A:0/LS slow stop 1/LS fast stop
B:0/PB slow stop 1/PB fast stop
read PB & LS stop mode
reply:AB
A,B:0,1
REMOTE/LOCAL mode and moving motor information
reply: Rn or Ln n:0 ～ 4 stopping motor number(if n = 0 then you can't start another motor)
Status read out
reply:
R(L)abcd/PNNS/VVVV/HHJJKKLL/±uu･･･/±vv･･･/±ww･･･/±xx･･･
PNNS:P:cw moving N:ccw moving S:stopped
VVVV:LS status & hold off status
HH,JJ,KK,LL:mcc statusuu･･･,vv･･･,ww･･･,xx･･･ :current position
hard and soft limit sw read
reply:abcdHHHHSSSS abcd/ch, HHHH/hard SSSS/soft
hold on/off state read x:ch(0,1,･･･9,A,B,C,D,E,F)
reply: ON or OFF
Motor hold on set to ch x. Hold off signal is disabled.
Motor hold off set to ch x. Hold off signal is enabled.
Read ch x hold on time before motor starts.
reply: ddddms.
Set ch x hold on time before motor starts.
(50 -3000msec. by 10msec units.)
Read ch x hold off output time after motor is stopped.
reply: ddddms.
Set ch x hold off output time after motor is stopped.
(50 -3000msec. by 10msec units.)

FOR MAINTENANCE
R/L
R/L
R
R/L
R/L
R/L

FROM0, FROM1
FROM?
REST
STSM?
VER?
VERH?

FROM selectcurrent FROM read reply:FROM0,FROM1
restart without power off-on
read status port1 of MCC09 aaaa/bbbb/cccc/dddd
read version reply: 2.00 10-10-01 PM4C-06A
hardware version read reply:HD-VER247

PM4C-06A series command list

OLD COMMAND LIST（Existing commands below are available to PM4C-06A.）@: replace @ with ch number. 0/A CH 1/B CH 2/C CH 3/D CH
MODE
R
R
R/L
R
R/L
R/L
R/L
d
R/L
R/L
R

COMMAND
S1@0
S1@1
S18
S19
S2@0
S2@1
S202
S212
S222
S232
S3@□□

R

S38@±DDDDDDDHH

R
R
R
R
R
R
R
R
R
R
R/L
R/L
R/L
R/L
R/L
R/L
R/L

S39@0DDD
S39@1DDD
S39@2DDD
S39@3DD
S39@4DDDD
S39@5D
S39@6D
S39@7D
S39@8D
S39@9±DDDDDD
S4@0
S4@1
S4@2
S4@3
S4@4
S4@5
S48

R/L
R/L
R
R
R

S70R
S70L
S71H
S71M
S71L

48

NOTE
cancel A-D CH SRQ
GP-IB only
SRQ set when A-D MOTOR stopped〃
SRQ flag readR0H H: b0/A POS. b1/B POS. b2/C POS. b3/D POS.
SRQ out CH read R0H H: b0/A POS. b1/B POS. b2/C POS. b3/D POS.
A-D CH position data read RX±DDDDDDD
X: A – D ch D: decimal
A-D CH CPU status read
RXHH
X: A – D ch H:hex code, b0 BIT:BUSY
A CH LS, HP, HOLD OFF status read
0:CWLS, b1:CCWLS, b2:HP, b3:H.OFF
B CH LS, HP, HOLD OFF status read
0:CWLS, b1:CCWLS, b2:HP, b3:H.OFF
C CH LS, HP, HOLD OFF status read
0:CWLS, b1:CCWLS, b2:HP, b3:H.OFF
D CH LS, HP, HOLD OFF status read
0:CWLS, b1:CCWLS, b2:HP, b3:H.OFF
A-D POSITION 2 BYTE COMMAND□□：COMMAND
08:+JOG
09:-JOG
0C:+CSPD SCAN
0D:-CSPD SCAN
0E:+SCAN
0F:-SCAN
16:PAUSE ON
17:PAUSE OFF
18:HOLD OFF
19:HOLD ON
1E:+SCAN & HP STOP
1F:-SCAN & HP STOP
40:SLOW STOP
80:EM.STOP
A-D POSITION DECIMAL INDEX COMMAND
HH: 10:CSPD RELATIVE SCAN 11:CSPD ABSOLUTE SCAN
12:RELATIVE SCAN
13:ABSOLUTE SCAN
data availabe
A-D POSITION HSPD set
DDD:3digit(000～254)
after "S71"
A-D POSITION MSPD set
DDD:3digit(000～254)
command
A-D POSITION LSPD set
DDD:3digit(000～254)
A-D POSITION RATE set
DD:2digit( 00～25 )A-D POSITION JOG pulse
DDDD:4digit(0001～9999)
A-D POSITION LS STOP MODE set
D: 0:SLOW STOP 1:FAST STOP
A-D POSITION PB STOP MODE set
D: 0:FAST STOP 2:SLOW STOP
A-D POSITION HOLD OFF set/reset
D: 0:reset
4:set
A-D POSITION HP SCAN DIR set
D: 0:CCW
8:CW
A-D POSITION counter preset DDDDDDD:7digit(0000000～8388607)
A-D POSITION HSPD read
RXHDDDD X: A – D ch D: 0000-0254 (code)
A-D POSITION MSPD read
RXMDDDD X: A – D ch D: 0000-0254 (code)
A-D POSITION LSPD read
RXLDDDD X: A – D ch D: 0000-0254 (code)
A-D POSITION RATE readRXRDD
X: A – D ch D: 00-25
A-D POSITION JOG pulse read
RXJPDDDD X: A – D ch D: 0001-9999 (code)
A-D POSITION status read
RXSDDDD
Front panel information read
R○□HHhh○： L:LOCAL
R:REMOTE□： C:CONDITION N:NORMAL
HH： b0:A POS.
b1:B POS.
b2:C POS.
b3:D POS.
hh： b0:ABS
b1:IND
b2:H.P
b3:SCANb4:H speed
b5:M speed
b6:L speed
REMOTE MODE CHANGE
LOCAL MODE CHANGE
H SPEED CHANGE
M SPEED CHANGE
L SPEED CHANGE